Intelligent cutting steel strand robot

Abstract

This utility model belongs to the technical field of bridge prestressed steel strand cutting equipment, and specifically relates to an intelligent steel strand cutting robot, including a walking system, a three-axis moving mechanism, a cutting machine, and a control module. The three-axis moving mechanism is mounted on the walking system and can move along the X, Y, and Z axes. The cutting machine includes a fixed base, a motor, and a concave saw blade. The fixed base is mounted on the three-axis moving mechanism, and the motor is mounted on the fixed base with its output end connected to the concave saw blade. The control module is electrically connected to the walking system, the three-axis moving mechanism, and the cutting machine. By controlling the three-axis moving mechanism to move the concave saw blade to the steel strand cutting plane, all steel strands within the anchor holes are cut flush, improving cutting efficiency. The position information of the steel strands is collected by a photoelectric centering rod, improving cutting accuracy. The extension or retraction of the photoelectric centering rod by a telescopic mechanism improves measurement accuracy and operational safety.

Description

Technical Field

[0001] This utility model belongs to the technical field of bridge prestressed steel strand cutting equipment, specifically relating to an intelligent steel strand cutting robot. Background Technology

[0002] In the construction of precast box girders for railways, the traditional prestressed steel strand cutting process involves manually cutting the steel strands in the anchor holes using a handheld cutting machine. This method often results in uneven cut ends and uneven exposed lengths of the steel strands, making it difficult to meet the cutting specifications. This often requires secondary cutting, which is time-consuming, labor-intensive, inefficient, and poses high safety risks for manual operation.

[0003] Patent document CN221966643U discloses an intelligent cutting device for steel strands in railway box girders, including a cutting machine for cutting steel strands within prestressed ducts. The cutting machine includes a fixed blade and a moving blade, the moving blade moving relative to the fixed blade to perform cutting. A position adjustment device includes a base and a robotic arm, the base for mounting the robotic arm, and the cutting machine mounted on the robotic arm for real-time position adjustment. The cutting device also includes an image acquisition device and an image processing system, capable of processing and analyzing acquired steel strand images, extracting and processing the position information of the steel strands to obtain data containing the position information. The control system then fine-tunes the robotic arm's posture to sequentially cut each steel strand within the anchor holes.

[0004] However, the cutting machine in the above-mentioned cutting equipment requires each steel strand in the anchor hole to be moved individually to align with the blade before the cutting operation can be performed, which results in low single-hole cutting efficiency. Utility Model Content

[0005] To address the shortcomings of existing technologies, this utility model proposes an intelligent steel strand cutting robot that uses the concave saw blade of a cutting machine to perform flush cutting of all steel strands within the anchor hole, thereby improving cutting efficiency.

[0006] To solve the above-mentioned technical problems, this utility model provides an intelligent steel strand cutting robot, comprising:

[0007] Walking system;

[0008] A three-axis moving mechanism is mounted on the walking system and can move along the X, Y, and Z axes.

[0009] A cutting machine includes a fixed base, a motor, and a concave saw blade. The fixed base is mounted on the three-axis moving mechanism, and the motor is mounted on the fixed base with its output end connected to the concave saw blade.

[0010] The control module is electrically connected to the walking system, the three-axis moving mechanism, and the cutting machine, respectively.

[0011] Preferably, in the above solution, the walking system includes a chassis, a wheel set, a drive mechanism, a reversing mechanism, and a battery pack. The three-axis moving mechanism is located above the chassis, and the wheel set is located below it. The drive mechanism, the reversing mechanism, and the battery pack are electrically connected to the control module to drive the wheel set to rotate and reverse.

[0012] Preferably, in the above scheme, the walking system further includes a tail lifting mechanism, which is located at the rear end of the chassis and electrically connected to the control module, for raising or lowering the vertical height of the rear end of the chassis, so that the chassis tilts forward or backward.

[0013] Preferably, the above solution further includes a cooling mechanism, which includes a water tank, a water pump, and a liquid guide pipe. The outlet of the liquid guide pipe is located above the concave saw blade. The water pump is electrically connected to the control module and is used to transport the coolant in the water tank to the surface of the concave saw blade through the liquid guide pipe.

[0014] Preferably, in the above scheme, the three-axis moving mechanism includes an X-axis moving mechanism, a Y-axis moving mechanism, and a Z-axis moving mechanism. The Z-axis moving mechanism is mounted on the walking system, the X-axis moving mechanism is mounted on the Z-axis moving mechanism, the Y-axis moving mechanism is mounted on the X-axis moving mechanism, the cutting machine is mounted on the Y-axis moving mechanism, and the X-axis moving mechanism, Y-axis moving mechanism, and Z-axis moving mechanism are electrically connected to the control module.

[0015] Preferably, in the above scheme, the Y-axis moving mechanism includes a slide, a platform, and a lifting mechanism. The slide is vertically arranged on the X-axis moving mechanism, the motor is arranged on the platform, the platform is slidably arranged in the slide, and the lifting mechanism is used to drive the platform to slide up and down.

[0016] Preferably, in the above scheme, the lifting mechanism includes a ball screw and a servo motor. The servo motor is located at the upper end of the slide groove, the ball screw is vertically arranged in the slide groove, the output end of the servo motor is connected to the screw of the ball screw, and the platform is connected to the nut of the ball screw.

[0017] Preferably, the above solution further includes a photoelectric centering rod, a processing module, and a telescopic mechanism. One end of the telescopic mechanism is connected to the fixed base, and the other end is connected to the photoelectric centering rod. The telescopic mechanism is used to drive the photoelectric centering rod to extend to the outside of the concave saw blade or retract to the inside of the concave saw blade. The photoelectric centering rod is used to collect the position information of the steel strand. The photoelectric centering rod, the processing module, and the control module are electrically connected in sequence. The control module is electrically connected to the telescopic mechanism.

[0018] Preferably, in the above scheme, the telescopic mechanism includes an electric push rod and a horizontal telescopic frame. The fixed end of the electric push rod and the fixed end of the horizontal telescopic frame are respectively disposed on the fixed base. The movable end of the electric push rod is connected to the movable end of the horizontal telescopic frame. The photoelectric centering rod is disposed on the movable end of the horizontal telescopic frame. The electric push rod is electrically connected to the control module.

[0019] Preferably, the above solution also includes a laser rangefinder, which is mounted on the fixed base and electrically connected to the control module, for measuring the distance between the fixed base and the end face of the box girder to be constructed.

[0020] Compared with existing technologies, this utility model has the following beneficial effects:

[0021] 1. The intelligent steel strand cutting robot of this utility model includes a walking system, a three-axis moving mechanism, a cutting machine, and a control module. The cutting machine includes a concave saw blade, and the output end of the motor is connected to the concave saw blade. The connection between the output end of the motor and the concave saw blade is recessed inward. By controlling the three-axis moving mechanism, the concave saw blade is moved to the cutting plane of the steel strand, and all the steel strands in the anchor hole are cut flush, which can improve the cutting efficiency.

[0022] 2. The walking system of this utility model also includes a tail lifting mechanism, which is used to raise or lower the vertical height of the rear end of the chassis, so that the chassis tilts forward or backward to adjust the cutting angle of the steel strand; the photoelectric centering rod is used to collect the position information of the steel strand, which helps to improve the accuracy and safety of steel strand cutting.

[0023] 3. The telescopic mechanism of this utility model includes an electric push rod and a horizontal telescopic frame. The fixed end of the electric push rod and the fixed end of the horizontal telescopic frame are respectively provided on the fixed base. The movable end of the electric push rod is connected to the movable end of the horizontal telescopic frame. The photoelectric centering rod is provided at the movable end of the horizontal telescopic frame. When the horizontal telescopic frame extends, it can extend the photoelectric centering rod to the outside of the concave saw blade and can penetrate into the anchor hole for detection. When it retracts, it can retract the photoelectric centering rod to the inside of the concave saw blade to avoid affecting the normal cutting operation of the concave saw blade. Attached Figure Description

[0024] Figure 1 This is a structural schematic diagram of an intelligent steel strand cutting robot according to the present invention.

[0025] Figure 2 This is a first-view structural schematic diagram of the cutting machine of this utility model.

[0026] Figure 3 This is a second-view structural schematic diagram of the cutting machine of this utility model.

[0027] Figure 4 This is a schematic diagram of the working state of an intelligent steel strand cutting robot according to the present invention.

[0028] Figure 5 This is a third-view structural diagram of the cutting machine of this utility model.

[0029] Figure 6 This is a schematic diagram of the Z-axis moving mechanism of this utility model.

[0030] Figure 7 This is a schematic diagram of the Y-axis moving mechanism of this utility model.

[0031] Figure 8 This is a schematic diagram of the installation structure of the tail lifting mechanism of this utility model.

[0032] Among them, 1-walking system, 11-chassis, 12-wheel set, 13-drive mechanism, 14-reversing mechanism, 15-battery pack, 16-tail lifting mechanism, 2-three-axis moving mechanism, 21-X-axis moving mechanism, 22-Y-axis moving mechanism, 221-slide groove, 222-ball screw, 223-platform, 224-servo motor, 23-Z-axis moving mechanism, 3-cutting machine, 31-fixed seat, 32-motor, 33-concave saw blade, 4-cooling mechanism, 41-water tank, 42-water pump, 43-liquid guide pipe, 5-telescopic mechanism, 51-electric push rod, 52-horizontal telescopic frame, 6-photoelectric centering rod, 7-laser rangefinder, 8-anchor hole, 9-steel strand, 10-tail lifting mechanism. Detailed Implementation

[0033] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0034] In the description of this utility model, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0035] In the description of this utility model, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. If the terms "first," "second," and "third" are used in the description, they are for descriptive purposes and to distinguish technical features, and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the sequential relationship of the indicated technical features.

[0036] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "setting" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances. The embodiments of this utility model will now be described based on its overall structure.

[0037] like Figures 1 to 4 As shown, this utility model discloses an intelligent steel strand cutting robot, including a walking system 1, a three-axis moving mechanism 2, a cutting machine 3, and a control module. The three-axis moving mechanism 2 is mounted on the walking system 1 and can move along the X, Y, and Z axes. The cutting machine 3 includes a fixed base 31, a motor 32, and a concave saw blade 33. The fixed base 31 is mounted on the three-axis moving mechanism 2, and the motor 32 is mounted on the fixed base 31, with its output end connected to the concave saw blade 33. The control module is electrically connected to the walking system 1, the three-axis moving mechanism 2, and the cutting machine 3. In this embodiment, by controlling the concave saw blade 33 of the cutting machine 3 to move to the cutting plane of the steel strand 9, all the steel strands 9 within the anchor holes 8 are cut flush, thus improving cutting efficiency.

[0038] It is worth noting that during the cutting of the steel strand 9, since the connection between the output end of the motor 32 and the concave saw blade 33 is recessed inward, it can avoid contact with the end face of the cut steel strand 9, thus enabling continuous flush cutting of all the steel strands 9 in the anchor hole 8.

[0039] Continue to refer to Figure 1 The walking system 1 in this embodiment includes a chassis 11, a wheel set 12, a drive mechanism 13, a reversing mechanism 14, and a battery pack 15. A three-axis motion mechanism 2 is located above the chassis 11, and the wheel set 12 is located below it. The drive mechanism 13, the reversing mechanism 14, and the battery pack 15 are electrically connected to the control module to drive the wheel set 12 to rotate and reverse, thereby quickly moving the robot to a preset cutting position in front of the end face of the box girder to be constructed. Furthermore, by installing lidar around the walking system 1, obstacle avoidance functionality can be achieved.

[0040] like Figure 8 As shown, the walking system 1 also includes a tail lifting mechanism 16, which is located at the rear end of the chassis 11 and electrically connected to the control module. The tail lifting mechanism 16 is used to raise or lower the vertical height of the rear end of the chassis 11, causing the chassis 11 to tilt forward or backward. Specifically, the front end of the chassis 11 is connected to the front end of the wheel set 12, the rear end of the chassis 11 is connected to the upper end of the tail lifting mechanism 16, and the lower end of the tail lifting mechanism 16 is connected to the rear end of the wheel set 12. The tail lifting mechanism 16 can be a hydraulic cylinder or an electric lifting frame. Initially, the upper end of the tail lifting mechanism 16 extends a preset length, keeping the chassis 11 horizontal. When the extension length of the upper end of the tail lifting mechanism 16 is greater than the preset length, the chassis 11 tilts forward as a whole. When the extension length of the upper end of the tail lifting mechanism 16 is less than the preset length, the chassis 11 tilts backward as a whole. This is suitable for cutting steel strand 9 with upward or downward tilt angles.

[0041] Continue to refer to Figure 4 When the exposed end of the steel strand 9 has an upward tilt angle, it is necessary to control the tail lifting mechanism 16 to lift the rear height of the chassis 11 so that the chassis 11 tilts forward as a whole, and the three-axis moving mechanism 2 and the cutting machine 3 tilt forward synchronously to achieve cutting in the vertical direction from the extension direction of the steel strand 4.

[0042] like Figure 6 As shown, this embodiment also includes a cooling mechanism 4, which includes a water tank 41, a water pump 42, and a liquid guide pipe 43. (Continuing to refer to...) Figure 3 The outlet of the liquid guide pipe 43 is located above the concave saw blade 33. The water pump 42 is electrically connected to the control module and is used to transport the coolant in the water tank 41 to the surface of the concave saw blade 33 through the liquid guide pipe 43. Specifically, the cooling mechanism 4 also includes a filter to filter the coolant and prevent clogging of the liquid guide pipe 43.

[0043] It should be understood that the three-axis moving mechanism 2 can be a robotic arm; see further reference. Figure 1 The three-axis moving mechanism 2 in this embodiment includes an X-axis moving mechanism 21, a Y-axis moving mechanism 22 and a Z-axis moving mechanism 23. The Z-axis moving mechanism 23 is mounted on the walking system 1, the X-axis moving mechanism 21 is mounted on the Z-axis moving mechanism 23, the Y-axis moving mechanism 22 is mounted on the X-axis moving mechanism 21, and the cutting machine 3 is mounted on the Y-axis moving mechanism 22. The X-axis moving mechanism 21, the Y-axis moving mechanism 22 and the Z-axis moving mechanism 23 are electrically connected to the control module.

[0044] Specifically, the Z-axis moving mechanism 23 drives the X-axis moving mechanism 21 to move in the Z-axis direction via a motor and a rack and pinion structure, and the X-axis moving mechanism 21 drives the Y-axis moving mechanism 22 to move along the X-axis direction via a motor and a rack and pinion structure; as shown Figure 7 As shown, the Y-axis moving mechanism 22 includes a slide groove 221, a platform 223, and a lifting mechanism. The slide groove 221 is vertically mounted on the X-axis moving mechanism 21. The motor 32 is mounted on the platform 223, which is slidably mounted within the slide groove 221. The lifting mechanism drives the platform 223 to slide up and down. Further, the lifting mechanism includes a ball screw 222 and a servo motor 224. The servo motor 224 is mounted at the upper end of the slide groove 221, and the ball screw 222 is vertically mounted within the slide groove 221. The output end of the servo motor 224 is connected to the screw of the ball screw 222. The platform 223 is connected to the nut of the ball screw 222. The servo motor 224 can drive the platform 223 to move in the Y-axis direction via the ball screw 222. Additionally, the fixed base 31 has multiple rows of mounting holes. The fixed base 31 is detachably connected to the platform 223 through these mounting holes, facilitating adjustment of the mounting position of the fixed base 31 on the platform 223.

[0045] This embodiment also includes a photoelectric centering rod 6 and a processing module. The photoelectric centering rod 6 is mounted on a fixed base 31 and is used to collect the position information of the steel strand 9. The photoelectric centering rod 6, the processing module, and the control module are electrically connected in sequence. Figure 6 As shown, this embodiment also includes a laser rangefinder 7, which is mounted on a fixed base 31 and electrically connected to the control module. It is used to measure the distance between the fixed base 31 and the end face of the box girder to be constructed.

[0046] It is worth noting that after the photoelectric centering rod 6 and the laser rangefinder 7 are installed, the fixed transformation relationship between them and the robot coordinate system should be calibrated simultaneously to ensure that the collected data can be accurately mapped to the control coordinate system of the three-axis moving mechanism 2. By measuring the distance between the fixed seat 31 and the end face of the box girder to be constructed in real time, when the preset cutting working distance is reached, the control walking system 1 stops in front of the end face of the box girder to be constructed.

[0047] Preparation phase: The photoelectric centering rod 6 is controlled to perform a full circumference scan on any anchor hole 8. The processing module processes and analyzes the collected position information of the steel strand 9, generates a distribution heat map of the steel strand 9, and simultaneously corrects the robot's preset approach coordinate pose, start coordinate pose, end coordinate pose, and return coordinate pose.

[0048] Cutting stage: Based on the corrected coordinate pose, the concave saw blade 33 is controlled to complete the flush cutting operation of all steel strands 9 in the anchor hole 8 in one go.

[0049] By presetting the movement sequence coordinates of the anchor holes 8, after completing the cutting task of the steel strand 9 of one anchor hole 8, the three-axis moving mechanism 2 is controlled to move the concave saw blade 33 to the front of other anchor holes 8 in sequence, repeating the above preparation and cutting steps until all the steel strand 9 cutting operations of the end face of the box girder to be constructed are completed.

[0050] It should be understood that the intelligent steel strand cutting robot of this utility model is not only applicable to the steel strand cutting of box girders, but also to the steel strand or rebar cutting of slab beams, T-beams, composite beams and other building walls.

[0051] Furthermore, this embodiment also includes a telescopic mechanism 5. One end of the telescopic mechanism 5 is connected to the fixed base 31, and the other end is connected to the photoelectric centering rod 6. The telescopic mechanism 5 is used to drive the photoelectric centering rod 6 to extend to the outside of the concave saw blade 33 or retract to the inside of the concave saw blade 33. The control module is electrically connected to the telescopic mechanism 5. The telescopic mechanism 5 can be an electric telescopic rod or a hydraulic cylinder. Specifically, the telescopic mechanism 5 in this embodiment includes an electric push rod 51 and a horizontal telescopic frame 52. The fixed ends of the electric push rod 51 and the horizontal telescopic frame 52 are respectively located on the fixed base 31. The movable end of the electric push rod 51 is connected to the movable end of the horizontal telescopic frame 52. The photoelectric centering rod 6 is located at the movable end of the horizontal telescopic frame 52. The electric push rod 51 is electrically connected to the control module. When the horizontal telescopic frame 52 extends, the photoelectric centering rod 6 can extend to the outside of the concave saw blade 33, which can be used to probe into the anchor hole 8. When it retracts, the photoelectric centering rod 6 can be retracted to the inside of the concave saw blade 33 to avoid affecting the normal cutting operation of the concave saw blade 33.

[0052] In this invention, the robot can be directly controlled and monitored in all aspects through a computer system, ensuring the robot's intelligent and normal operation. The control circuits, control methods, and power supply of each system are all common knowledge. Furthermore, since this invention is mainly used to protect mechanical devices, the control methods and circuit connections will not be explained in detail here.

[0053] The foregoing description of specific exemplary embodiments of the present invention is for illustrative and explanatory purposes. These descriptions are not intended to limit the present invention to the precise forms disclosed, and it will be apparent that many changes and variations can be made in accordance with the foregoing teachings. The exemplary embodiments were chosen and described in order to explain the specific principles of the present invention and its practical application, thereby enabling those skilled in the art to implement and utilize various different exemplary embodiments of the present invention, as well as various different choices and variations. The scope of the present invention is intended to be defined by the claims and their equivalents.

Claims

1. A smart cut strand machine robot, characterized by, include: Walking system; A three-axis moving mechanism is mounted on the walking system and can move along the X, Y, and Z axes. A cutting machine includes a fixed base, a motor, and a concave saw blade. The fixed base is mounted on the three-axis moving mechanism, and the motor is mounted on the fixed base with its output end connected to the concave saw blade. The control module is electrically connected to the walking system, the three-axis moving mechanism, and the cutting machine, respectively.

2. The intelligent cutting strand robot of claim 1, wherein, The walking system includes a chassis, wheel set, drive mechanism, reversing mechanism and battery pack. The three-axis moving mechanism is located on top of the chassis and the wheel set is located below it. The drive mechanism, reversing mechanism and battery pack are electrically connected to the control module to drive the wheel set to rotate and reverse.

3. The intelligent steel strand cutting robot according to claim 2, characterized in that, The walking system also includes a tail lifting mechanism, which is located at the rear end of the chassis and electrically connected to the control module. The tail lifting mechanism is used to raise or lower the vertical height of the rear end of the chassis, so that the chassis tilts forward or backward.

4. The intelligent steel strand cutting robot according to claim 1, characterized in that, It also includes a cooling mechanism, which includes a water tank, a water pump and a liquid guide pipe. The outlet of the liquid guide pipe is located above the concave saw blade. The water pump is electrically connected to the control module and is used to transport the coolant in the water tank to the surface of the concave saw blade through the liquid guide pipe.

5. The intelligent steel strand cutting robot according to claim 1, characterized in that, The three-axis moving mechanism includes an X-axis moving mechanism, a Y-axis moving mechanism, and a Z-axis moving mechanism. The Z-axis moving mechanism is mounted on the walking system, the X-axis moving mechanism is mounted on the Z-axis moving mechanism, the Y-axis moving mechanism is mounted on the X-axis moving mechanism, and the cutting machine is mounted on the Y-axis moving mechanism. The X-axis moving mechanism, Y-axis moving mechanism, and Z-axis moving mechanism are electrically connected to the control module.

6. The intelligent steel strand cutting robot according to claim 5, characterized in that, The Y-axis moving mechanism includes a slide, a platform, and a lifting mechanism. The slide is vertically mounted on the X-axis moving mechanism. The motor is mounted on the platform. The platform is slidably mounted in the slide. The lifting mechanism is used to drive the platform to slide up and down.

7. The intelligent steel strand cutting robot according to claim 6, characterized in that, The lifting mechanism includes a ball screw and a servo motor. The servo motor is located at the upper end of the slide groove, and the ball screw is vertically arranged in the slide groove. The output end of the servo motor is connected to the screw of the ball screw, and the platform is connected to the nut of the ball screw.

8. The intelligent steel strand cutting robot according to claim 1, characterized in that, It also includes a photoelectric centering rod, a processing module, and a telescopic mechanism. One end of the telescopic mechanism is connected to the fixed base, and the other end is connected to the photoelectric centering rod. The telescopic mechanism is used to drive the photoelectric centering rod to extend to the outside of the concave saw blade or retract to the inside of the concave saw blade. The photoelectric centering rod is used to collect the position information of the steel strand. The photoelectric centering rod, the processing module, and the control module are electrically connected in sequence. The control module is electrically connected to the telescopic mechanism.

9. The intelligent steel strand cutting robot according to claim 8, characterized in that, The telescopic mechanism includes an electric push rod and a horizontal telescopic frame. The fixed end of the electric push rod and the fixed end of the horizontal telescopic frame are respectively located on the fixed base. The movable end of the electric push rod is connected to the movable end of the horizontal telescopic frame. The photoelectric centering rod is located at the movable end of the horizontal telescopic frame. The electric push rod is electrically connected to the control module.

10. The intelligent steel strand cutting robot according to claim 8, characterized in that, It also includes a laser rangefinder, which is mounted on the fixed base and electrically connected to the control module, and is used to measure the distance between the fixed base and the end face of the box girder to be constructed.

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